Tracking systems and methods for image-guided surgery

Abstract

Apparatus and methods are described including tracking a tool portion and a patient marker from a first line of sight, using a first tracking device disposed upon a first head-mounted device that includes a display. The tool portion and the patient marker are tracked from a second line of sight, using a second tracking device. When a portion of the patient marker and the tool portion are both within the first line of sight, an augmented reality image is generated upon the first display based upon data received from the first tracking device and without using data from the second tracking device. When at least the patient marker portion and the tool portion are not both within the first line of sight, a virtual image of the tool and anatomy of the patient is generated using data 10 received from the second tracking device. Other applications are also described.

1 .- 40 . (canceled) 
     
     
         41 . A method for use with a tool configured to be placed within a portion of a body of a patient, the method comprising:
 tracking, using a first tracking device from a first line of sight, at least a portion of the tool and a patient marker that is configured to be placed upon the body of the patient, wherein the first tracking device is disposed upon a first head-mounted device that is configured to be worn by a first person, the first head-mounted device including a first head-mounted display;   tracking, using a second tracking device from a second line of sight, at least the portion of the tool and the patient marker, wherein the second tracking device is disposed upon a second head-mounted device that is configured to be worn by a second person; and   using at least one computer processor, generating an augmented reality image upon the first head-mounted display, based upon data received from the first tracking device in combination with data received from the second tracking device, the augmented reality image including (a) a virtual image of the tool and anatomy of the patient, overlaid upon (b) the patient's body.   
     
     
         42 . The method of  claim 41 , wherein the tracking, using the first tracking device from the first line of sight, at least the portion of the tool comprises tracking a tool marker. 
     
     
         43 . The method of  claim 42 , wherein the tracking, using the second tracking device from the second line of sight, at least the portion of the tool comprises tracking the tool marker. 
     
     
         44 . The method of  claim 41 , wherein the second head-mounted device includes a second head-mounted display, and the method further comprises generating a further augmented reality image upon the second head-mounted display. 
     
     
         45 . The method of  claim 41 , wherein the first tracking device comprises a first camera configured to image at least the portion of the tool and the patient marker. 
     
     
         46 . The method of  claim 45 , wherein the second tracking device comprises a second camera configured to image at least the portion of the tool and the patient marker. 
     
     
         47 . The method of  claim 41 , wherein generating the augmented reality image upon the first head-mounted display comprises:
 determining a position of the tool with respect to the patient's anatomy using data received from the first tracking device in combination with data received from the second tracking device;   generating the virtual image of the tool and anatomy of the patient upon the first head-mounted display, based upon the determined position of the tool with respect to the patient's anatomy;   determining a position of the patient's body with respect to the first head-mounted device based upon data received from the first tracking device; and   overlaying the virtual image upon the patient's body, based upon the determined position of the patient's body with respect to the first head-mounted device.   
     
     
         48 . The method of  claim 47 , wherein determining the position of the tool with respect to the patient's anatomy using data received from the first tracking device in combination with data received from the second tracking device comprises determining an average position of the tool with respect to the patient's anatomy. 
     
     
         49 . The method of  claim 47 , wherein determining the position of the patient's body with respect to the first head-mounted device based upon data received from the first tracking device comprises analyzing one or more images of the patient marker created by a camera of the first tracking device. 
     
     
         50 . The method of  claim 49 , wherein the one or more images of the patient marker comprise data that is sufficient to determine the position of the patient's body with respect to the first head-mounted device without requiring use of triangulation techniques. 
     
     
         51 . A system for use with a tool configured to be placed within a portion of a body of a patient, the system comprising:
 a patient marker configured to be placed upon the patient's body;   a first head-mounted device configured to be worn by a first person, the first head-mounted device comprising a first head-mounted display, and a first tracking device that is configured to track at least a portion of the tool and the patient marker from a first line of sight;   a second head-mounted device configured to be worn by a second person, the second head-mounted device comprising a second tracking device that is configured to track at least the portion of the tool and the patient marker from a second line of sight; and   at least one computer processor configured to generate an augmented reality image upon the first head-mounted display, based upon data received from the first tracking device in combination with data received from the second tracking device, the augmented reality image including (a) a virtual image of the tool and anatomy of the patient, overlaid upon (b) the patient's body.   
     
     
         52 . The system of  claim 51 , wherein the tool includes a tool marker, and wherein the first tracking device is configured to track the portion of the tool by tracking the tool marker. 
     
     
         53 . The system of  claim 52 , wherein the second tracking device is configured to track the portion of the tool by tracking the tool marker. 
     
     
         54 . The system of  claim 51 , wherein the second head-mounted device comprises a second head-mounted display, and wherein the at least one computer processor is further configured to generate a further augmented reality image upon the second head-mounted display. 
     
     
         55 . The system of  claim 51 , wherein the first tracking device comprises a first camera. 
     
     
         56 . The system of  claim 55 , wherein the second tracking device comprises a second camera. 
     
     
         57 . The system of  claim 51 , wherein the at least one computer processor is configured to generate the augmented reality image upon the first head-mounted display by:
 determining a position of the tool with respect to the patient's anatomy using data received from the first tracking device in combination with data received from the second tracking device;   generating the virtual image of the tool and anatomy of the patient upon the first head-mounted display, based upon the determined position of the tool with respect to the patient's anatomy;   determining a position of the patient's body with respect to the first head-mounted device based upon data received from the first tracking device; and   overlaying the virtual image upon the patient's body, based upon the determined position of the patient's body with respect to the first head-mounted device.   
     
     
         58 . The system of  claim 57 , wherein determining the position of the tool with respect to the patient's anatomy using data received from the first tracking device in combination with data received from the second tracking device comprises determining an average position of the tool with respect to the patient's anatomy. 
     
     
         59 . The system of  claim 57 , wherein determining the position of the patient's body with respect to the first head-mounted device based upon data received from the first tracking device comprises analyzing one or more images of the patient marker created by a camera of the first tracking device. 
     
     
         60 . The system of  claim 59 , wherein the one or more images of the patient marker comprise data that is sufficient to determine the position of the patient's body with respect to the first head-mounted device without requiring use of triangulation techniques.